Template Struct DifferentialActionDataContactFwdDynamicsTpl

Defined in File contact-fwddyn.hpp

Inheritance Relationships

Base Type

public crocoddyl::DifferentialActionDataAbstractTpl< _Scalar > (Template Struct DifferentialActionDataAbstractTpl)

Struct Documentation

template<typename _Scalar> struct DifferentialActionDataContactFwdDynamicsTpl : public crocoddyl::DifferentialActionDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef DifferentialActionDataAbstractTpl<Scalar> Base

typedef JointDataAbstractTpl<Scalar> JointDataAbstract

typedef DataCollectorJointActMultibodyInContactTpl<Scalar> DataCollectorJointActMultibodyInContact

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

template<template<typename Scalar> class Model> inline explicit DifferentialActionDataContactFwdDynamicsTpl(Model<Scalar> *const model)

virtual ~DifferentialActionDataContactFwdDynamicsTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> pinocchio

DataCollectorJointActMultibodyInContact multibody

std::shared_ptr<CostDataSumTpl<Scalar>> costs

std::shared_ptr<ConstraintDataManagerTpl<Scalar>> constraints

MatrixXs Kinv

MatrixXs df_dx

MatrixXs df_du

VectorXs tmp_xstatic

MatrixXs tmp_Jstatic

Scalar cost: cost value

MatrixXs Fu: Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).

MatrixXs Fx: Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).

VectorXs Lu: Jacobian of the cost w.r.t. the control \(\mathbf{u}\).

MatrixXs Luu: Hessian of the cost w.r.t. the control \(\mathbf{u}\).

VectorXs Lx: Jacobian of the cost w.r.t. the state \(\mathbf{x}\).

MatrixXs Lxu: Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control u

MatrixXs Lxx: Hessian of the cost w.r.t. the state \(\mathbf{x}\).

VectorXs r: Cost residual.

VectorXs xout: evolution state